公开(公告)号：US12239380B2

公开(公告)日：2025-03-04

申请号：US16084746

申请日：2017-03-17

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  David Paul Noonan

IPC: G06F17/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B90/00 ,  A61B34/00

Abstract: A control unit for a robot system including a robot with a rigid proximal portion having a remote center of motion (RCM), a flexible distal portion, and an image acquisition device. The control unit includes a processor that receives images from the image acquisition device; generates a first deployment path to a first target position based on the images; generates a second deployment path to a second target position from the first target position based on the images; generates first guidance information for positioning the rigid proximal portion along the first deployment path; generates second guidance information for positioning the flexible distal portion along the second deployment path; and deploys the first guidance information to the rigid proximal portion for guiding the rigid proximal portion to the first target position, and deploys the second guidance information to the flexible distal portion for guiding the flexible interface distal portion to the second target position.

公开(公告)号：US12096993B2

公开(公告)日：2024-09-24

申请号：US17434734

申请日：2020-02-21

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Grzegorz Andrzej Toporek ,  Marcin Arkadiusz Balicki ,  Aleksandra Popovic

IPC: A61B34/20 ,  A61B8/12 ,  A61B34/30 ,  A61B90/00 ,  B25J9/16 ,  G06N3/044 ,  G06N3/045 ,  G06N3/047 ,  G06N3/08 ,  G06N3/084 ,  G06T7/246 ,  G06T7/70 ,  G16H20/40 ,  G16H30/20 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B8/12 ,  A61B34/30 ,  A61B90/37 ,  B25J9/1607 ,  B25J9/1697 ,  G06N3/044 ,  G06N3/045 ,  G06N3/047 ,  G06N3/08 ,  G06N3/084 ,  G06T7/246 ,  G06T7/70 ,  G16H20/40 ,  G16H30/20 ,  A61B2034/107 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/378 ,  G06T2207/20084 ,  G06T2207/30244

Abstract: A positioning controller (50) including an imaging predictive model (80) and inverse control predictive model (70). In operation, the controller (50) applies the imaging predictive model (80) to imaging data generated by an imaging device (40) to render a predicted navigated pose of the imaging device (40), and applies the control predictive model (70) to error positioning data derived from a differential aspect between a target pose of the imaging device (40) and the predicted navigated pose of the imaging device (40) to render a predicted corrective positioning motion of the imaging device (40) (or a portion of the interventional device associated with this imaging device) to the target pose. From the predictions, the controller (50) further generates continuous positioning commands controlling a corrective positioning by the interventional device (30) of the imaging device (40) (or said portion of interventional device) to the target pose based on the predicted corrective positioning motion of the interventional device (30).

公开(公告)号：US11980505B2

公开(公告)日：2024-05-14

申请号：US17984683

申请日：2022-11-10

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  Haytham Elhawary

IPC: A61B90/00 ,  A61B1/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/30

CPC classification number: A61B90/37 ,  A61B1/00009 ,  A61B1/000094 ,  A61B1/00165 ,  A61B1/00194 ,  A61B34/10 ,  A61B90/361 ,  A61B2017/00243 ,  A61B2034/107 ,  A61B34/30 ,  A61B2034/301 ,  A61B2090/3614 ,  A61B2090/365

Abstract: A system for visualizing an anatomical target includes an imaging device (105) configured to collect real-time images of an anatomical target. A three-dimensional model (136) is generated from pre- or intra-operative images and includes images of structures below a surface of the anatomical target not visible in the images from the scope. An image processing module (148) is configured to generate an overlay (107) registered to the real-time images and to indicate the structures below the surface and a depth of the structures below the surface. A display device (118) is configured to concurrently display the real-time images and the overlay.

公开(公告)号：US11857379B2

公开(公告)日：2024-01-02

申请号：US18093355

申请日：2023-01-05

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Grzegorz Andrzej Toporek ,  Aleksandra Popovic

IPC: G06K9/00 ,  A61B90/00 ,  A61B34/20 ,  A61B34/30 ,  G06T7/10

CPC classification number: A61B90/03 ,  A61B34/20 ,  A61B34/30 ,  A61B90/06 ,  G06T7/10 ,  A61B2034/2068 ,  A61B2090/065 ,  A61B2090/378 ,  G06T2207/10028 ,  G06T2207/30004

Abstract: A force sensed surface scanning system (20) employs a scanning robot (41) and a surface scanning controller (50). The scanning robot (41) includes a surface scanning end-effector (43) for generating force sensing data informative of a contact force applied by the surface scanning end-effector (43) to an anatomical organ. In operation, the surface scanning controller (50) controls a surface scanning of the anatomical organ by the surface scanning end-effector (43) including the surface scanning end-effector (43) generating the force sensing data, and further constructs an intraoperative volume model of the anatomical organ responsive to the force sensing data generated by the surface scanning end-effector (43) indicating a defined surface deformation offset of the anatomical organ.

公开(公告)号：US11596292B2

公开(公告)日：2023-03-07

申请号：US15745761

申请日：2016-07-07

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aryeh Leib Reinstein ,  Aleksandra Popovic

IPC: A61B1/00 ,  A61B5/06 ,  A61B34/00 ,  A61B90/00 ,  A61B34/30 ,  G16H30/20 ,  A61B34/20 ,  A61B34/32 ,  G06T7/37 ,  G16H30/40 ,  G06T15/30 ,  G16Z99/00

Abstract: An endoscopic imaging system (10) employing an endoscope (20) and an endoscope guidance controller (30). In operation, endoscope (20) generates an endoscopic video (23) of an anatomical structure within an anatomical region. Endoscopic guidance controller (30), responsive to a registration between the endoscopic video (23) and a volume image (44) of the anatomical region, controls a user interaction (50) with a graphical user interface (31) including one or more interactive planar slices (32) of the volume image (44), and responsive to the user interaction (50) with the graphical user interface (31), endoscopic guidance controller (30) controls a positioning of the endoscope (20) relative to the anatomical structure derived from the interactive planar slices (32) of the volume image (44). A robotic endoscopic imaging system (11) incorporates a robot (23) in the endoscopic imaging system (10) whereby endoscope guidance controller (30) controls a positioning by robot (23) of the endoscope (20) relative to the anatomical structure.

公开(公告)号：US11551380B2

公开(公告)日：2023-01-10

申请号：US16478135

申请日：2018-01-15

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Molly Lara Flexman ,  Aleksandra Popovic ,  Ashish Panse

IPC: G06T11/00 ,  A61B34/00 ,  A61B90/00 ,  G16H30/20 ,  G16H40/63 ,  G09B5/02 ,  G09B19/00

Abstract: An augmented reality interventional system which provides contextual overlays (116) to assist or guide a user (101) or enhance the performance of the interventional procedure by the user that uses an interactive medical device (102) to perform the interventional procedure. The system includes a graphic processing module (110) that is configured to generate at least one contextual overlay on an augmented reality display device system (106). The contextual overlays may identify a component (104) or control of the interactive medical device. The contextual overlays may also identify steps of a procedure to be performed by the user and provide instructions for performance of the procedure. The contextual overlays may also identify a specific region of the environment to assist or guide the user or enhance the performance of the interventional procedure by identifying paths or protocols to reduce radiation exposure.

公开(公告)号：US11413099B2

公开(公告)日：2022-08-16

申请号：US16871645

申请日：2020-05-11

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  David Paul Noonan

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/20 ,  G06F3/01

Abstract: A control unit is provided for a surgical robot system, including a robot configured to operate an end-effector in a surgical site of a patient. The control unit includes a processor configured to transmit acquired live images of a patient, received from an image acquisition device, to a virtual reality (VR) device for display; to receive input data from the VR device, including tracking data from a VR tracking system of the VR device based on a user's response to the live images displayed on a viewer of the display unit of the VR device; to process the input data received from the VR device to determine a target in the patient; to determine a path for the end-effector to reach the target based upon the live images and the processed input data; and to transmit control signals to cause the robot to guide the end-effector to the target via the determined path.

公开(公告)号：US11161248B2

公开(公告)日：2021-11-02

申请号：US15763745

申请日：2016-09-14

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  Johannes Petrus Withagen ,  David Paul Noonan ,  Jurgen Jean Louis Hoppenbrouwers

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  A61B34/30 ,  A61B6/00 ,  B25J11/00 ,  G05B19/4155

Abstract: A system for calibration of a robot includes an imaging system (136) including two or more cameras (132). A registration device (120) is configured to align positions of a light spot (140) on a reference platform as detected by the two or more cameras with robot positions corresponding with the light spot positions to register an imaging system coordinate system (156) with a robot coordinate system (150).

公开(公告)号：US10786319B2

公开(公告)日：2020-09-29

申请号：US16065891

申请日：2016-12-28

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  David Paul Noonan

IPC: A61B17/00 ,  A61B34/30 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00 ,  A61M25/01

Abstract: A surgical robot system is disclosed. The surgical robot system includes a handheld introducer and a flexible surgical device. A control unit includes a processor, and a memory that stores, among other things, machine readable instructions configured to be executed by a processor to control a flexible surgical device. The surgical robot system also includes an imaging device, and a tracking system. The processor is configured to generate guidance commands to control the flexible surgical device based on information relaying to the images of the flexible surgical device, and the position of at least on point of the handheld introducer.

公开(公告)号：US10751133B2

公开(公告)日：2020-08-25

申请号：US16498000

申请日：2018-03-28

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Grzegorz Andrzej Toporek ,  Aleksandra Popovic

IPC: H04N5/225 ,  A61B34/20 ,  A61B34/30 ,  G06T7/73 ,  H04N7/18

Abstract: A markerless robot tracking system (10) employing a surgical RCM robot (20) including a primary revolute joint (22) rotatable about a primary rotational axis and a secondary revolute joint (22) rotatable about a secondary rotational axis. A plurality of unique landmark sets are integrated into the robot (20) with each unique landmark set including landmark(s) (30) in a fixed orientation relative to the primary rotational axis and further including additional landmark(s) (30) in a fixed orientation relative to the secondary rotational axis. The system (10) further an optical camera (41, 51) for visualizing a subset of the plurality of unique landmark sets within a camera coordinate system (43, 53), and a robot tracking controller (70) for estimating a robot pose of the surgical RCM robot (20) within the camera coordinate system (43, 53) derived from the visualization by the optical camera (41, 51) of the subset of landmark(s) within the camera coordinate system (43, 53).